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public class MecanumForwardKinematicsMecanum forward kinematics calculator.
Use this class to calculate field position based on the mecanum wheel motor encoders. This is an alternative to dead wheels localization for teams that don't have dead wheels.
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Field Summary
Fields Modifier and Type Field Description private final Pose2DcurrentPoseprivate final Pose2DcurrentSpeed
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Constructor Summary
Constructors Constructor Description MecanumForwardKinematics(MecanumKinematicsParams mecanumParams, Pose2D initialPose)
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Method Summary
Modifier and Type Method Description Pose2DgetCurrentPose()voidsetCurrentPose(Pose2D currentPose)Pose2DgetCurrentSpeed()voidsetCurrentValues(Pose2D currentPose, int flPosition, int frPosition, int rlPosition, int rrPosition)voidupdate(int flPosition, int frPosition, int rlPosition, int rrPosition)-
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Constructor Detail
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MecanumForwardKinematics
MecanumForwardKinematics(MecanumKinematicsParams mecanumParams, Pose2D initialPose)
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Method Detail
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getCurrentPose
Pose2D getCurrentPose()
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setCurrentPose
void setCurrentPose(Pose2D currentPose)
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getCurrentSpeed
Pose2D getCurrentSpeed()
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setCurrentValues
void setCurrentValues(Pose2D currentPose, int flPosition, int frPosition, int rlPosition, int rrPosition)
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update
void update(int flPosition, int frPosition, int rlPosition, int rrPosition)
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